[Mike]

Originally Posted by 354.FIRST

Thanks.
What's the best way to tell if the camera has a centered target?
-354

I'm not totally sure where Kevin found this information (maybe he can elaborate more) but in tracking.h I see

// parameters for CMUcam2 with OV7620 camera module
#define IMAGE_WIDTH 159
#define IMAGE_HEIGHT 239

So from this data you can figure that the middle point of the field of view is (79, 119) which, is also the value of the defines PAN_CENTER_PWM_DEFAULT and TILT_CENTER_PWM_DEFAULT.

So, what you want to do is get T_Packet_Data.my the closest you can to TILT_CENTER_PWM_DEFAULT and T_Packet_Data.mx to PAN_CENTER_PWM_DEFAULT.

-Mike